Aerospace and Electronic Systems Magazine July 2018 - 25
Shraim, Awada, and Youness
Table 6.
Disturbances Along the x-Axis
PID
Feedback
Linearization
Classical SM
Second
Order SM
Integral
Backstepping
Lyapunov
Unstable
2.8592
1.3226
0.5954
18.2138
1.2492
-
0.85
1
0.8
6.84
0.6
Unstable
4.2069
2.0219
0.8415
11.255
1.7891
-
1.82
1.5
1.4
4
1.1
Unstable
5.9384
2.9070
1.1955
9.4639
2.4725
-
0.82
0.98
0.8
2.06
0.8
PID
Feedback
Linearization
Classical SM
Second
Order SM
Integral
Backstepping
Lyapunov
Unstable
5.5641
1.2520
0.3138
8.8008
0.9409
-
0.6
0.75
0.5
>10
1.2
Unstable
4.2035
2.1636
0.4606
6.6632
1.3514
-
1.85
1.4
0.65
7.676
1.05
Unstable
6.3033
3.1815
0.6601
12.3286
1.9872
-
0.95
0.91
0.65
5.3
0.8
Disturbance at 10s
Peak (m)
Time to comeback (s)
Disturbance at 21s
Peak (m)
Time to comeback (s)
Disturbance at 44s
Peak (m)
Time to comeback (s)
Table 7.
Disturbances Along the y-Axis
Disturbance at 10s
Peak (m)
Time to comeback (s)
Disturbance at 21s
Peak (m)
Time to comeback (s)
Disturbance at 44s
Peak (m)
Time to comeback (s)
At this stage, we will study two subcriteria (Table 5), the
first is the insensibility of the controllers to the sudden variation of the speed and acceleration. The second is the insensibility of the controllers to the aggression and the difficulty of the
trajectory.
c. Controller robustness criterion:
The effect of external perturbations (wind disturbance) over a
small quadrotor may be important and lead to dangerous situations.
Thus, the study of robustness in the presence of disturbance is very
important. We have tested that by adding the disturbances over the
x axis (Table 6), y axis (Table 7), and z axis (Table 8) in many positions. Thus, the following table shows the peak that every controlJULY 2018
ler reached after the adding of disturbance and the time that it took
to return to the trajectory.
d. Energy efficiency criterion:
Outputs of controllers are the thrust and moments, which
achieve the desired mission. These values are related to the angular
velocity of each motor. The controller using the minimum amount
of energy will be the most efficient (Table 9).
CONCLUSION
Based on the comparative study done above, and if we make a
compromise between the subcriterion indicated above in the first
IEEE A&E SYSTEMS MAGAZINE
25
Table of Contents for the Digital Edition of Aerospace and Electronic Systems Magazine July 2018
No label
Aerospace and Electronic Systems Magazine July 2018 - No label
Aerospace and Electronic Systems Magazine July 2018 - Cover2
Aerospace and Electronic Systems Magazine July 2018 - 1
Aerospace and Electronic Systems Magazine July 2018 - 2
Aerospace and Electronic Systems Magazine July 2018 - 3
Aerospace and Electronic Systems Magazine July 2018 - 4
Aerospace and Electronic Systems Magazine July 2018 - 5
Aerospace and Electronic Systems Magazine July 2018 - 6
Aerospace and Electronic Systems Magazine July 2018 - 7
Aerospace and Electronic Systems Magazine July 2018 - 8
Aerospace and Electronic Systems Magazine July 2018 - 9
Aerospace and Electronic Systems Magazine July 2018 - 10
Aerospace and Electronic Systems Magazine July 2018 - 11
Aerospace and Electronic Systems Magazine July 2018 - 12
Aerospace and Electronic Systems Magazine July 2018 - 13
Aerospace and Electronic Systems Magazine July 2018 - 14
Aerospace and Electronic Systems Magazine July 2018 - 15
Aerospace and Electronic Systems Magazine July 2018 - 16
Aerospace and Electronic Systems Magazine July 2018 - 17
Aerospace and Electronic Systems Magazine July 2018 - 18
Aerospace and Electronic Systems Magazine July 2018 - 19
Aerospace and Electronic Systems Magazine July 2018 - 20
Aerospace and Electronic Systems Magazine July 2018 - 21
Aerospace and Electronic Systems Magazine July 2018 - 22
Aerospace and Electronic Systems Magazine July 2018 - 23
Aerospace and Electronic Systems Magazine July 2018 - 24
Aerospace and Electronic Systems Magazine July 2018 - 25
Aerospace and Electronic Systems Magazine July 2018 - 26
Aerospace and Electronic Systems Magazine July 2018 - 27
Aerospace and Electronic Systems Magazine July 2018 - 28
Aerospace and Electronic Systems Magazine July 2018 - 29
Aerospace and Electronic Systems Magazine July 2018 - 30
Aerospace and Electronic Systems Magazine July 2018 - 31
Aerospace and Electronic Systems Magazine July 2018 - 32
Aerospace and Electronic Systems Magazine July 2018 - 33
Aerospace and Electronic Systems Magazine July 2018 - 34
Aerospace and Electronic Systems Magazine July 2018 - 35
Aerospace and Electronic Systems Magazine July 2018 - 36
Aerospace and Electronic Systems Magazine July 2018 - 37
Aerospace and Electronic Systems Magazine July 2018 - 38
Aerospace and Electronic Systems Magazine July 2018 - 39
Aerospace and Electronic Systems Magazine July 2018 - 40
Aerospace and Electronic Systems Magazine July 2018 - 41
Aerospace and Electronic Systems Magazine July 2018 - 42
Aerospace and Electronic Systems Magazine July 2018 - 43
Aerospace and Electronic Systems Magazine July 2018 - 44
Aerospace and Electronic Systems Magazine July 2018 - 45
Aerospace and Electronic Systems Magazine July 2018 - 46
Aerospace and Electronic Systems Magazine July 2018 - 47
Aerospace and Electronic Systems Magazine July 2018 - 48
Aerospace and Electronic Systems Magazine July 2018 - 49
Aerospace and Electronic Systems Magazine July 2018 - 50
Aerospace and Electronic Systems Magazine July 2018 - 51
Aerospace and Electronic Systems Magazine July 2018 - 52
Aerospace and Electronic Systems Magazine July 2018 - 53
Aerospace and Electronic Systems Magazine July 2018 - 54
Aerospace and Electronic Systems Magazine July 2018 - 55
Aerospace and Electronic Systems Magazine July 2018 - 56
Aerospace and Electronic Systems Magazine July 2018 - 57
Aerospace and Electronic Systems Magazine July 2018 - 58
Aerospace and Electronic Systems Magazine July 2018 - 59
Aerospace and Electronic Systems Magazine July 2018 - 60
Aerospace and Electronic Systems Magazine July 2018 - 61
Aerospace and Electronic Systems Magazine July 2018 - 62
Aerospace and Electronic Systems Magazine July 2018 - 63
Aerospace and Electronic Systems Magazine July 2018 - 64
Aerospace and Electronic Systems Magazine July 2018 - 65
Aerospace and Electronic Systems Magazine July 2018 - 66
Aerospace and Electronic Systems Magazine July 2018 - 67
Aerospace and Electronic Systems Magazine July 2018 - 68
Aerospace and Electronic Systems Magazine July 2018 - 69
Aerospace and Electronic Systems Magazine July 2018 - 70
Aerospace and Electronic Systems Magazine July 2018 - 71
Aerospace and Electronic Systems Magazine July 2018 - 72
Aerospace and Electronic Systems Magazine July 2018 - Cover3
Aerospace and Electronic Systems Magazine July 2018 - Cover4
http://www.brightcopy.net/allen/aesm/34-2s
http://www.brightcopy.net/allen/aesm/34-2
http://www.brightcopy.net/allen/aesm/34-1
http://www.brightcopy.net/allen/aesm/33-12
http://www.brightcopy.net/allen/aesm/33-11
http://www.brightcopy.net/allen/aesm/33-10
http://www.brightcopy.net/allen/aesm/33-09
http://www.brightcopy.net/allen/aesm/33-8
http://www.brightcopy.net/allen/aesm/33-7
http://www.brightcopy.net/allen/aesm/33-5
http://www.brightcopy.net/allen/aesm/33-4
http://www.brightcopy.net/allen/aesm/33-3
http://www.brightcopy.net/allen/aesm/33-2
http://www.brightcopy.net/allen/aesm/33-1
http://www.brightcopy.net/allen/aesm/32-10
http://www.brightcopy.net/allen/aesm/32-12
http://www.brightcopy.net/allen/aesm/32-9
http://www.brightcopy.net/allen/aesm/32-11
http://www.brightcopy.net/allen/aesm/32-8
http://www.brightcopy.net/allen/aesm/32-7s
http://www.brightcopy.net/allen/aesm/32-7
http://www.brightcopy.net/allen/aesm/32-6
http://www.brightcopy.net/allen/aesm/32-5
http://www.brightcopy.net/allen/aesm/32-4
http://www.brightcopy.net/allen/aesm/32-3
http://www.brightcopy.net/allen/aesm/32-2
http://www.brightcopy.net/allen/aesm/32-1
http://www.brightcopy.net/allen/aesm/31-12
http://www.brightcopy.net/allen/aesm/31-11s
http://www.brightcopy.net/allen/aesm/31-11
http://www.brightcopy.net/allen/aesm/31-10
http://www.brightcopy.net/allen/aesm/31-9
http://www.brightcopy.net/allen/aesm/31-8
http://www.brightcopy.net/allen/aesm/31-7
https://www.nxtbookmedia.com